Title :
Experimental verification of visual tracking of surgical tools
Author :
Dutkiewicz, Piotr ; Kietczewski, M. ; Kowalski, Michal ; Wróblewski, Waldemar
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
In the paper, experimental verification of vision feedback in position control of surgical tools for minimal invasive surgery (MIS) (Dutkiewicz et al., 2004) is presented. The laparoscope positioning is based on computer recognition of surgical tools on the image from a laparoscopic camera. Experimental results, obtained from special laboratory test bed based on the Staubli robot equipped with laparoscopic camera are presented.
Keywords :
endoscopes; feedback; image recognition; manipulators; medical robotics; robot vision; surgery; tracking; Staubli robot; computer vision; experimental verification; image recognition; laparoscope positioning; laparoscopic camera; minimal invasive surgery; position control; surgical tools; vision feedback; visual tracking; Cameras; Control systems; Laboratories; Laparoscopes; Manipulators; Medical robotics; Minimally invasive surgery; Robot kinematics; Robot vision systems; Telerobotics;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201430
